#pragma once
// MESSAGE ACC_DATA PACKING

#define MAVLINK_MSG_ID_ACC_DATA 919


typedef struct __mavlink_acc_data_t {
 double time; /*<  time*/
 double acc[3]; /*<  acc_array*/
} mavlink_acc_data_t;

#define MAVLINK_MSG_ID_ACC_DATA_LEN 32
#define MAVLINK_MSG_ID_ACC_DATA_MIN_LEN 32
#define MAVLINK_MSG_ID_919_LEN 32
#define MAVLINK_MSG_ID_919_MIN_LEN 32

#define MAVLINK_MSG_ID_ACC_DATA_CRC 106
#define MAVLINK_MSG_ID_919_CRC 106

#define MAVLINK_MSG_ACC_DATA_FIELD_ACC_LEN 3

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ACC_DATA { \
    919, \
    "ACC_DATA", \
    2, \
    {  { "time", NULL, MAVLINK_TYPE_DOUBLE, 0, 0, offsetof(mavlink_acc_data_t, time) }, \
         { "acc", NULL, MAVLINK_TYPE_DOUBLE, 3, 8, offsetof(mavlink_acc_data_t, acc) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_ACC_DATA { \
    "ACC_DATA", \
    2, \
    {  { "time", NULL, MAVLINK_TYPE_DOUBLE, 0, 0, offsetof(mavlink_acc_data_t, time) }, \
         { "acc", NULL, MAVLINK_TYPE_DOUBLE, 3, 8, offsetof(mavlink_acc_data_t, acc) }, \
         } \
}
#endif

/**
 * @brief Pack a acc_data message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param time  time
 * @param acc  acc_array
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_acc_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               double time, const double *acc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ACC_DATA_LEN];
    _mav_put_double(buf, 0, time);
    _mav_put_double_array(buf, 8, acc, 3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACC_DATA_LEN);
#else
    mavlink_acc_data_t packet;
    packet.time = time;
    mav_array_memcpy(packet.acc, acc, sizeof(double)*3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACC_DATA_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_ACC_DATA;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACC_DATA_MIN_LEN, MAVLINK_MSG_ID_ACC_DATA_LEN, MAVLINK_MSG_ID_ACC_DATA_CRC);
}

/**
 * @brief Pack a acc_data message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param time  time
 * @param acc  acc_array
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_acc_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   double time,const double *acc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ACC_DATA_LEN];
    _mav_put_double(buf, 0, time);
    _mav_put_double_array(buf, 8, acc, 3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACC_DATA_LEN);
#else
    mavlink_acc_data_t packet;
    packet.time = time;
    mav_array_memcpy(packet.acc, acc, sizeof(double)*3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACC_DATA_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_ACC_DATA;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACC_DATA_MIN_LEN, MAVLINK_MSG_ID_ACC_DATA_LEN, MAVLINK_MSG_ID_ACC_DATA_CRC);
}

/**
 * @brief Encode a acc_data struct
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param acc_data C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_acc_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_acc_data_t* acc_data)
{
    return mavlink_msg_acc_data_pack(system_id, component_id, msg, acc_data->time, acc_data->acc);
}

/**
 * @brief Encode a acc_data struct on a channel
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param acc_data C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_acc_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_acc_data_t* acc_data)
{
    return mavlink_msg_acc_data_pack_chan(system_id, component_id, chan, msg, acc_data->time, acc_data->acc);
}

/**
 * @brief Send a acc_data message
 * @param chan MAVLink channel to send the message
 *
 * @param time  time
 * @param acc  acc_array
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_acc_data_send(mavlink_channel_t chan, double time, const double *acc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ACC_DATA_LEN];
    _mav_put_double(buf, 0, time);
    _mav_put_double_array(buf, 8, acc, 3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACC_DATA, buf, MAVLINK_MSG_ID_ACC_DATA_MIN_LEN, MAVLINK_MSG_ID_ACC_DATA_LEN, MAVLINK_MSG_ID_ACC_DATA_CRC);
#else
    mavlink_acc_data_t packet;
    packet.time = time;
    mav_array_memcpy(packet.acc, acc, sizeof(double)*3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACC_DATA, (const char *)&packet, MAVLINK_MSG_ID_ACC_DATA_MIN_LEN, MAVLINK_MSG_ID_ACC_DATA_LEN, MAVLINK_MSG_ID_ACC_DATA_CRC);
#endif
}

/**
 * @brief Send a acc_data message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_acc_data_send_struct(mavlink_channel_t chan, const mavlink_acc_data_t* acc_data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_acc_data_send(chan, acc_data->time, acc_data->acc);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACC_DATA, (const char *)acc_data, MAVLINK_MSG_ID_ACC_DATA_MIN_LEN, MAVLINK_MSG_ID_ACC_DATA_LEN, MAVLINK_MSG_ID_ACC_DATA_CRC);
#endif
}

#if MAVLINK_MSG_ID_ACC_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_acc_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  double time, const double *acc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_double(buf, 0, time);
    _mav_put_double_array(buf, 8, acc, 3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACC_DATA, buf, MAVLINK_MSG_ID_ACC_DATA_MIN_LEN, MAVLINK_MSG_ID_ACC_DATA_LEN, MAVLINK_MSG_ID_ACC_DATA_CRC);
#else
    mavlink_acc_data_t *packet = (mavlink_acc_data_t *)msgbuf;
    packet->time = time;
    mav_array_memcpy(packet->acc, acc, sizeof(double)*3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACC_DATA, (const char *)packet, MAVLINK_MSG_ID_ACC_DATA_MIN_LEN, MAVLINK_MSG_ID_ACC_DATA_LEN, MAVLINK_MSG_ID_ACC_DATA_CRC);
#endif
}
#endif

#endif

// MESSAGE ACC_DATA UNPACKING


/**
 * @brief Get field time from acc_data message
 *
 * @return  time
 */
static inline double mavlink_msg_acc_data_get_time(const mavlink_message_t* msg)
{
    return _MAV_RETURN_double(msg,  0);
}

/**
 * @brief Get field acc from acc_data message
 *
 * @return  acc_array
 */
static inline uint16_t mavlink_msg_acc_data_get_acc(const mavlink_message_t* msg, double *acc)
{
    return _MAV_RETURN_double_array(msg, acc, 3,  8);
}

/**
 * @brief Decode a acc_data message into a struct
 *
 * @param msg The message to decode
 * @param acc_data C-struct to decode the message contents into
 */
static inline void mavlink_msg_acc_data_decode(const mavlink_message_t* msg, mavlink_acc_data_t* acc_data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    acc_data->time = mavlink_msg_acc_data_get_time(msg);
    mavlink_msg_acc_data_get_acc(msg, acc_data->acc);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_ACC_DATA_LEN? msg->len : MAVLINK_MSG_ID_ACC_DATA_LEN;
        memset(acc_data, 0, MAVLINK_MSG_ID_ACC_DATA_LEN);
    memcpy(acc_data, _MAV_PAYLOAD(msg), len);
#endif
}
